pypose.vec2skew¶
- pypose.vec2skew(input)[source]¶
Convert batched vectors to skew matrices.
- Parameters
input (Tensor) – the tensor \(\mathbf{x}\) to convert.
- Returns
the skew matrices \(\mathbf{y}\).
- Return type
Tensor
- Shape:
Input:
(*, 3)Output:
(*, 3, 3)
\[{\displaystyle \mathbf{y}_i={\begin{bmatrix}\,\, 0&\!-x_{i,3}&\,\,\,x_{i,2}\\\,\,\,x_{i,3}&0&\!-x_{i,1} \\\!-x_{i,2}&\,\,x_{i,1}&\,\,0\end{bmatrix}}} \]Note
The last dimension of the input tensor has to be 3.
Example
>>> pp.vec2skew(torch.randn(1,3)) tensor([[[ 0.0000, -2.2059, -1.2761], [ 2.2059, 0.0000, 0.2929], [ 1.2761, -0.2929, 0.0000]]])
